function dx = plant(t, x)
    dx = zeros(7, 1);
%***************************变量简化**************************************
x1 = x(1);  x2 = x(2);  z0 = x(3);  z1 = x(4);  z2 = x(5);  integarl_para = x(6);   h = x(7);
%***************************系统参数**************************************
ax = -25*x1;    bx = 133;
% beta0 = 1;  beta1 = 1;
% k5 = 1; k6 = 1; k7 = 1; k8 = 1;
m = 3;  L = 3*2*pi*2*pi+1;
lamda0 = 5; lamda1 = 6; lamda2 = 2;

beta0 = 1.5;    beta1 = 6.0;
k5 = 1.0;   k6 = 1.0;   k7 = 1.0;   k8 = 5.0;
%***************************系统干扰**************************************
dt = 3*sin(2*pi*t); 
%***************************滑模面****************************************
s = x2 + integarl_para;
%***************************v0 v1 v2**************************************
v0 = -lamda0*L^(1/3)*sig(z0-x2,2/3)+z1;
v1 = -lamda1*L^(1/2)*sig(z1-v0,1/2)+z2;
v2 = -lamda2*L*sign(z2-v1);
%***************************控制输入**************************************
u = 1/bx*( -ax - beta1*(sig(x2,2/3) + beta0 * sig(x1,1/2)) - k5*sig(s,1-1/m) - k6*s + h - z1 );
%***************************系统******************************************
dx(1) = x2;
dx(2) = ax + bx * u + dt;
dx(3) = ax + bx * u + v0;   % dz0   z0 = x2
dx(4) = v1;                 % dz1   z1 = d
dx(5) = v2;                 % dz2   z2 = d_d
dx(6) = beta1*( sig(x2,2/3) + beta0 * sig(x1,1/2) );
dx(7) = -k7*sig(s,1-2/m)-k8*s;
end

